EP3169588B1 - System zur bestimmung eines gewichts auf rädern mit lidar - Google Patents

System zur bestimmung eines gewichts auf rädern mit lidar Download PDF

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Publication number
EP3169588B1
EP3169588B1 EP15821723.2A EP15821723A EP3169588B1 EP 3169588 B1 EP3169588 B1 EP 3169588B1 EP 15821723 A EP15821723 A EP 15821723A EP 3169588 B1 EP3169588 B1 EP 3169588B1
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European Patent Office
Prior art keywords
landing gear
aircraft
lidar
processor
determining
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EP15821723.2A
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English (en)
French (fr)
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EP3169588A4 (de
EP3169588A1 (de
Inventor
Igor Cherepinsky
Joshua M. Leland
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Sikorsky Aircraft Corp
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Sikorsky Aircraft Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D45/0005—Devices specially adapted to indicate the position of a movable element of the aircraft, e.g. landing gear
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/02—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles
    • G01G19/07—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles for weighing aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging

Definitions

  • the subject matter disclosed herein relates generally to the field of load detection in rotary-wing aircraft, and more particularly, to a system and method for automatically detecting weight-on-wheels on a landing gear of a rotary-wing aircraft using a remote sensing system.
  • WOW weight-on-wheel
  • Measurement of WOW for fly-by-wire and autonomous rotorcraft can be critical to a correct transition of the rotorcraft control system from airborne state to a ground state and, if not executed properly, can result in dynamic rollover.
  • Current systems with mechanical switches and sensors can be unreliable and do not always actuate at the same amount of force on the landing gear.
  • a system for determining WOW for a rotorcraft using a remote sensing technology that is reliable in the field would be well received in the art
  • US 8 042 765 B1 discloses an aircraft landing gear compression rate monitor using a camera attached to an aircraft hull in a manner which allows the camera to have a field of view of the range of movement of the piston of the strut.
  • the camera captures photographs which are used in a method of determining and measuring telescopic strut extension and compression, in relation to elapsed time.
  • the present invention relates to a method and system for determining weight on wheels for an aircraft according to the appended claims.
  • a method for determining weight on wheels for an aircraft according to claim 1 is disclosed .
  • further embodiments could include receiving LIDAR image information while the aircraft is airborne.
  • further embodiments could include evaluating the LIDAR image information against a landing gear extension model.
  • further embodiments could include applying weight of the aircraft on the landing gear in response to determining that the landing gear is locked.
  • further embodiments could include determining a load of the aircraft on the landing gear in response to the determining that the landing gear is compressed.
  • further embodiments could include transitioning the aircraft to a ground state in response to determining that the landing gear is compressed.
  • further embodiments could include receiving the LIDAR image information from a body landing gear and a nose landing gear.
  • a system for determining weight on wheels for an aircraft with at least one landing gear according to claim 8 is disclosed.
  • further embodiments could include a processor that is configured to receive the LIDAR image data while aircraft is airborne.
  • further embodiments could include a processor that is configured to evaluate the LIDAR image information against a landing gear extension model.
  • further embodiments could include a processor that is configured to apply weight of the aircraft on the landing gear in response to determining that the landing gear is locked.
  • further embodiments could include a processor that is configured to determine a load of the aircraft on the landing gear in response to the determining that the landing gear is compressed.
  • further embodiments could include a processor that is configured to transition the aircraft to a ground state in response to determining that the landing gear is compressed.
  • further embodiments could include a processor that is configured to receive the LIDAR image information from a body landing gear and a nose landing gear.
  • Technical function of the invention includes using a remote sensing technology like LIDAR to image an aircraft and its landing gear to provide measurement of compression of a landing gear and wheels so as to indicate accurate weight-on-wheels for a rotary wing aircraft.
  • a remote sensing technology like LIDAR to image an aircraft and its landing gear to provide measurement of compression of a landing gear and wheels so as to indicate accurate weight-on-wheels for a rotary wing aircraft.
  • FIGS. 1A-1C illustrate general views of an exemplary vehicle in the form of a vertical takeoff and landing (VTOL) rotary-wing aircraft 100 for use with system 200 ( FIG. 2 ) according to an embodiment of the invention.
  • aircraft 100 can be a fly-by-wire aircraft or an optionally piloted vehicle that autonomously determines aircraft states during flight.
  • aircraft 100 includes a main rotor system 102, an anti-torque system, for example, a tail rotor system 104, and a Light Detection and Ranging (LIDAR) perception system 106 positioned laterally on either side of aircraft 100.
  • LIDAR Light Detection and Ranging
  • Main rotor system 102 is attached to an airframe 108 and includes a rotor hub 110 having a plurality of blades 112 that rotate about rotor hub axis A. Also, the tail rotor system 104 is attached aft of the main rotor system 102 and includes a plurality of blades 114 that rotate about axis B (which is orthogonal to axis A). The main rotor system 102 and the tail rotor system 104 are driven to rotate about their respective axes A, B by one or more turbine engines for providing lift and thrust to aircraft.
  • LIDAR perception system 106 includes 3D LIDAR scanner modalities 106a, 106b for capturing surface data from, in some non-limiting examples, landing gears and their respective wheels and loads on airframe 108 and for processing by aircraft computer 202.
  • LIDAR scanner modality 106a may capture real-time image data for body landing gear 116 and nose landing gear 120 while LIDAR scanner modality 106b may capture real-time image data for body landing gear 118 and nose landing gear 120 in order to determine compression of struts and wheels associated with the landing gears 116, 118, and 120.
  • the aircraft computer 202 processes, in one non-limiting embodiment, raw LIDAR data acquired through sensors that are, for example, associated with 3D LIDAR scanner modalities 106a, 106b in order to implement the WOW algorithm while airborne. Additional remote sensing modalities such as Laser Detection and Ranging (LADAR) or the like may be provided to enhance the positional awareness of, e.g., an autonomous unmanned aerial vehicle (UAV) as exemplified by vehicle 100.
  • LADAR Laser Detection and Ranging
  • UAV autonomous unmanned aerial vehicle
  • FIG. 2 illustrates a schematic block diagram of a system 200 on board aircraft 100 for implementing the embodiments described herein.
  • aircraft 100 includes the aircraft computer 202 that executes instructions for implementing weight-on-wheels (WOW) algorithm 204 in order to detect weight of aircraft 100 on each landing gear.
  • the aircraft computer 202 receives raw sensor data that is related to one or more aircraft landing gears and wheels that are associated with sensors 206.
  • aircraft computer 202 receives Light Detection and Ranging (LIDAR) images from a LIDAR scanner associated with sensor 206.
  • the computer 202 includes a memory 208 that communicates with a processor 210.
  • the memory 208 may store the WOW algorithm 204 as executable instructions that are executed by processor 210.
  • LIDAR Light Detection and Ranging
  • memory 208 may include random access memory (RAM), read only memory (ROM), or other electronic, optical, magnetic, or any other computer readable medium onto which is stored the WOW algorithm 204 described below.
  • the processor 210 may be any type of processor (such as a CPU or a GPU), including a general purpose processor, a digital signal processor, a microcontroller, an application specific integrated circuit, a field programmable gate array, or the like.
  • the processor 210 may include an image processor in order to receive images and process the associated image data using one or more processing algorithms to produce one or more processed signals.
  • the processor 210 may include a LIDAR processor in order to receive LIDAR images and process the associated image data using one or more processing algorithms to produce one or more processed signals.
  • memory 208 may include random access memory (RAM), read only memory (ROM), or other electronic, optical, magnetic, or any other computer readable medium onto which is stored the mixing algorithm described below.
  • the system 200 may include a database 212.
  • the database 212 may be used to store landing gear extension models acquired by LIDAR scanner.
  • sensor data acquired by sensors 206 may be stored in database 212.
  • the data stored in the database 212 may be based on one or more other algorithms or processes for implementing WOW algorithm 204.
  • data stored in the database 212 may be a result of the processor 210 having subjected data received from the sensors 206 to one or more filtration processes.
  • the database 212 may be used for any number of reasons.
  • the database 212 may be used to temporarily or permanently store data, to provide a record or log of the data stored therein for subsequent examination or analysis, etc.
  • the database 212 may store a relationship between data, such as one or more links between data or sets of data acquired on board aircraft 100.
  • the system 100 may provide one or more controls, such as vehicle controls 214.
  • the vehicle controls 214 may provide directives to aircraft 100 based on, e.g., inputs received from an operator of aircraft 100.
  • Directives provided to vehicle controls 214 may include actuating one or more actuators of a landing gear or transitioning the aircraft 100 to a ground state from an airborne state.
  • the directives may be presented on one or more input/output (I/O) devices 216.
  • the I/O devices 216 may include a display device or screen, audio speakers, a graphical user interface (GUI), etc.
  • GUI graphical user interface
  • the I/O devices 216 may be used to enter or adjust a linking between data or sets of data. It is to be appreciated that the system 200 is illustrative.
  • FIG. 3 illustrates an exemplary flow diagram 300 of a process that is performed by aircraft computer 202 for implementing WOW algorithm 204 ( FIG. 2 ) according to an embodiment of the invention.
  • FIG. 2 is also referenced in the description of the flow diagram 300 in FIG. 3 .
  • left LIDAR scanner in block 302 and right LIDAR scanner in block 304 are activated and initialized to determine operability and functionality of the LIDAR scanners in blocks 302 and 304.
  • LIDAR fault detection is performed where system 200 may run tests on right LIDAR scanner 106b to determine its operability for acquiring images of landing gears 118 and 120 ( FIG. 1C ).
  • LIDAR fault detection is performed where system 200 may run tests on left LIDAR scanner 106a to determine its operability for acquiring images of landing gears 116 and 120 ( FIG. 1C ). Information from LIDAR fault detection on LIDAR scanners 106a, 106b is communicated to system 200 for evaluation. Fault detection is performed on LIDAR scanners while aircraft 100 is airborne and prior to approaching a landing zone. In an embodiment, system 200 initiates and detects faults within LIDAR system while aircraft 100 is within predetermined or defined operating parameters of the system 200. For example, system 200 evaluates LIDAR after transmitting a signal to fully extend landing gears 116-120 and while aircraft 100 is airborne and approaching a landing zone as determined by altitude, speed, clearance from obstacles on the ground for aircraft 100.
  • left LIDAR scanner 106a acquires raw LIDAR image data of body landing gear 116 while aircraft 100 is airborne and approaching a landing zone; in block 312, left and right LIDAR scanners 106a, 106b acquire raw image data of nose gear 120 ( FIG. 1C ) while aircraft 100 is airborne and approaching a landing zone, and in block 314, right LIDAR scanner 106b acquires raw LIDAR image data of body landing gear 118 while aircraft 100 is airborne and approaching a landing zone.
  • raw image data for body landing gear 116 is transformed into point cloud data and one or more algorithms are applied to the point cloud data to evaluate whether body landing gear 116 is extended (i.e., whether the gear is locked).
  • the 3D point cloud data is evaluated against a 3D model of a fully extended body landing gear 116 previously imaged through LIDAR scanner 106a to determine whether the image data conforms to the 3D model of a fully extended landing gear.
  • raw image data of a nose landing gear 120 is transformed into point cloud data and evaluated by applying one or more algorithms to determine whether nose landing gear 120 is fully extended.
  • the 3D point cloud data is evaluated against a 3D model of a fully extended nose landing gear 120 previously imaged through LIDAR scanners 106a, 106b to determine whether the image data conforms to the 3D model of a fully extended landing gear.
  • raw image data for right landing gear 118 is transformed into point cloud data and one or more algorithms are applied to the point cloud data to evaluate whether right landing gear 118 is fully extended.
  • the 3D point cloud data is evaluated against a 3D model of a fully extended body landing gear 118 previously imaged through LIDAR scanner 106b to determine whether the image data conforms to the 3D model of a fully extended landing gear. If system 200 determines that landing gears 116-120 are fully extended, the system 200 can autonomously descend onto the landing zone site until all landing gears are in contact with the ground and weight of the helicopter at least partially compresses the struts and wheels of the respective landing gears 116-120.
  • the 3D point cloud data is evaluated against a 3D model of a deformed body landing gear 116 and its associated wheel previously imaged through LIDAR scanner 106a in order to determine whether the image data conforms to the 3D model.
  • the processed 3D image will conform to the 3D model if the strut and wheel is deformed under minimum load conditions to indicate that the aircraft landing gear is contacting the ground.
  • image data of an airframe can be obtained through LIDAR scanner 106a and evaluated against a 3D model of the body landing gear 116 to determine side loads on aircraft 100.
  • the 3D point cloud data is evaluated against a 3D model of a deformed nose landing gear 120 and its associated wheel previously imaged through LIDAR scanners 106a, 106b in order to determine whether the image data conforms to the 3D model.
  • the processed 3D image will conform to the 3D model if the strut and wheel is deformed under minimum load conditions to indicate that the aircraft landing gear is contacting the ground.
  • the 3D point cloud data is evaluated against a 3D model of a deformed right landing gear 118 and its associated wheel previously imaged through LIDAR scanner 106b in order to determine whether the image data conforms to the 3D model.
  • the processed 3D image will conform to the 3D model if the strut and wheel is deformed under minimum load conditions to indicate that the aircraft landing gear is contacting the ground.
  • image data of an airframe can be obtained through LIDAR scanner 106b and evaluated against a 3D model of the body landing gear 118 to determine side loads on aircraft 100.
  • system 200 can transition the rotorcraft control system from airborne state to a ground state, either autonomously or through pilot control.
  • Benefits and technical effects of the invention include using a remote sensing technology like LIDAR to image an aircraft and its landing gears in order to provide measurement of compression of a landing gear and wheels so as to indicate accurate weight-on-wheels for a rotary wing aircraft. Additional benefits and technical effects include fault detection of the state of one or more landing gears to determine whether the landing gear is extended.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)

Claims (14)

  1. Verfahren zum Bestimmen eines Gewichts auf Rädern für ein Luftfahrzeug (100), umfassend:
    Empfangen (310, 312, 314) mit einem Prozessor (210) von Signalen, die eine Lasererfassungs- und
    Entfernungsmessungs(Light Detection And Ranging - LIDAR)-Bildinformation für ein Fahrwerk (116, 118, 120) angeben, von einem LIDAR-Scanner;
    Auswerten der LIDAR-Bildinformation anhand eines Fahrwerksmodells mit dem Prozessor (210);
    Bestimmen (316, 318, 320) einer Information mit dem Prozessor (210), die angibt, dass das Fahrwerk (116, 118, 120) verriegelt ist, als Reaktion auf das Auswerten der LIDAR-Bildinformation; und
    Bestimmen (322, 324, 326) einer Information mit dem Prozessor (210), die angibt, dass das Fahrwerk zusammengedrückt ist, als Reaktion auf das Auswerten der LIDAR-Bildinformation anhand des Fahrwerksmodells,
    dadurch gekennzeichnet, dass ein Test auf dem LIDAR-Scanner durchgeführt wird, um eine Betriebsbereitschaft des LIDAR-Scanners zum Erfassen von Bildern des Fahrwerks (116, 118, 120) zu bestimmen, während sich das Luftfahrzeug (100) in der Luft befindet und bevor es sich einer Landezone annähert.
  2. Verfahren nach Anspruch 1, ferner umfassend das Empfangen der LIDAR-Bildinformation, während sich das Luftfahrzeug (100) in der Luft befindet.
  3. Verfahren nach einem der vorstehenden Ansprüche, ferner umfassend das Auswerten der LIDAR-Bildinformation anhand eines Fahrwerkausfahrmodells.
  4. Verfahren nach einem der vorstehenden Ansprüche, ferner umfassend das Aufbringen eines Gewichts des Luftfahrzeugs (100) auf das Fahrwerk (116, 118, 120) als Reaktion auf das Bestimmen, dass das Fahrwerk (116, 118, 120) verriegelt ist.
  5. Verfahren nach einem der vorstehenden Ansprüche, ferner umfassend das Bestimmen einer Last des Luftfahrzeugs (100) auf dem Fahrwerk (116, 118, 120) als Reaktion auf das Bestimmen, dass das Fahrwerk (116, 118, 120) zusammengedrückt ist.
  6. Verfahren nach einem der vorstehenden Ansprüche, ferner umfassend das Wechseln des Luftfahrzeugs (100) in einen Bodenzustand als Reaktion auf das Bestimmen, dass das Fahrwerk (116, 118, 120) zusammengedrückt ist.
  7. Verfahren nach einem der vorstehenden Ansprüche, ferner umfassend das Empfangen der LIDAR-Bildinformation von einem Hauptfahrwerk (116, 118) und einem Bugfahrwerk (120).
  8. System (200) zum Bestimmen eines Gewichts auf Rädern für ein Luftfahrzeug (100), umfassend:
    mindestens ein Fahrwerk (116, 118, 120);
    einen Sensor (206) in Verbindung mit einem Maschinen-Light-Detection-And-Ranging(LIDAR)-Scanner;
    einen Prozessor (210); und
    einen Speicher (208), auf dem Anweisungen gespeichert sind, die, wenn sie von dem Prozessor (210) ausgeführt werden, bewirken, dass das System (200):
    Signale empfängt, die eine LIDAR-Bildinformation für ein Fahrwerk angeben;
    die LIDAR-Bildinformation anhand eines Fahrwerkmodells auswertet;
    eine Information bestimmt, die angibt, dass das Fahrwerk (116, 118, 120) verriegelt ist, als Reaktion auf das Auswerten der LIDAR-Bildinformation; und
    eine Information bestimmt, die angibt, dass das Fahrwerk zusammengedrückt ist, als Reaktion auf das Auswerten der LIDAR-Bildinformation anhand des Fahrwerkmodells,
    dadurch gekennzeichnet, dass ein Test an dem LIDAR-Scanner durchgeführt wird, um die Betriebsbereitschaft des LIDAR-Scanners zum Erfassen von Bildern des Fahrwerks (116, 118, 120) zu bestimmen, während sich das Luftfahrzeug (100) in der Luft befindet und bevor es sich einer Landezone annähert.
  9. System nach Anspruch 8, wobei der Prozessor (210) so konfiguriert ist, dass er die LIDAR-Bilddaten empfängt, während sich das Luftfahrzeug (100) in der Luft befindet.
  10. System nach einem der vorstehenden Ansprüche 8 bis 9, wobei der Prozessor (210) so konfiguriert ist, dass er die LIDAR-Bildinformation anhand eines Fahrwerkausfahrmodells auswertet.
  11. System nach einem der vorstehenden Ansprüche 8 bis 10, wobei der Prozessor so konfiguriert ist, dass er ein Gewicht des Luftfahrzeugs (100) auf das Fahrwerk (116, 118, 120) als Reaktion auf das Bestimmen, dass das Fahrwerk (116, 118, 120) verriegelt ist, aufbringt.
  12. System nach einem der vorstehenden Ansprüche 8 bis 11, wobei der Prozessor (210) so konfiguriert ist, dass er eine Last des Luftfahrzeugs (100) auf dem Fahrwerk (116, 118, 120) als Reaktion auf das Bestimmen, dass das Fahrwerk (116, 118, 120) zusammengedrückt ist, bestimmt.
  13. System nach einem der vorstehenden Ansprüche 8 bis 12, wobei der Prozessor (210) so konfiguriert ist, dass er das Luftfahrzeug (100) in einen Bodenzustand als Reaktion auf das Bestimmen, dass das Fahrwerk zusammengedrückt ist, wechselt.
  14. System nach einem der vorstehenden Ansprüche 8 bis 13, wobei der Prozessor (210) so konfiguriert ist, dass er die LIDAR-Bildinformation von einem Hauptfahrwerk (116, 118) und einem Bugfahrwerk (120) empfängt.
EP15821723.2A 2014-07-18 2015-07-15 System zur bestimmung eines gewichts auf rädern mit lidar Active EP3169588B1 (de)

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US201462026139P 2014-07-18 2014-07-18
PCT/US2015/040477 WO2016011099A1 (en) 2014-07-18 2015-07-15 System for determining weight-on-wheels using lidar

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EP3169588A1 EP3169588A1 (de) 2017-05-24
EP3169588A4 EP3169588A4 (de) 2018-04-11
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US10317533B2 (en) 2019-06-11
WO2016011099A1 (en) 2016-01-21
EP3169588A4 (de) 2018-04-11
US20170139045A1 (en) 2017-05-18
EP3169588A1 (de) 2017-05-24

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